jgg     2012 32 (1):  132-135    ISSN: 0412-1961  CN: 21-1139/TG KALMAN ALGORITHM CONSTRAINTED BY MAP INFORMATION APPLIED TO GPS/DR INTEGRATED NAVIGATION Lin Dongfang; Song Yingchun; Xiao Qinqin; and Du Kun School of Geosciences and Info-Physics, Central South University, Changsha 410083 Received: 1900-01-01  Revised: 1900-01-01  Online: null Supporting info null